相关论文: Shape-adaptive Hysteresis Compensation for Tendon-…

Predicting the shape of tendon driven continuum robots (TDCRs) at steady state from actuation remains challenging due to continuous deformation, complex tendon routing, compliance, friction, and fabrication variability. In this paper, we…

Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…

Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…

Stability and reliable operation under a spectrum of environmental conditions is still an open challenge for soft and continuum style manipulators. The inability to carry sufficient load and effectively reject external disturbances are two…

A new class of models based on hysteresis functions is developed to describe atomic force microscopes operating in dynamic mode. Such models are able to account for dissipative phenomena in the tip-sample interaction which are peculiar of…

The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate…

In this work, we propose an end-to-end Thrust Microstepping and Decoupled Control (TMDC) of quadrotors. TMDC focuses on precise off-centered aerial grasping of payloads dynamically, which are attached rigidly to the UAV body via a gripper…

This paper addresses the problem of controlling a continuum manipulator (CM) in free or obstructed environments with no prior knowledge about the deformation behavior of the CM and the stiffness and geometry of the interacting obstructed…

Continuum robots are flexible, thin manipulators capable of navigating confined or delicate environments making them well suited for surgical applications. Previous approaches to continuum robot state estimation typically rely on…

Soft robotics is a swiftly evolving field. Pneumatic actuators are suitable for driving soft robots because of their superior performance. However, their control is challenging due to the hysteresis characteristics. In response to this…

As robots shift from industrial to human-centered spaces, adopting mobile manipulators, which expand workspace capabilities, becomes crucial. In these settings, seamless interaction with humans necessitates compliant control. Two common…

Purpose: Advancements in MRI Tissue Phase Velocity Mapping (TPM) allow for the acquisition of higher quality velocity cardiac images providing better assessment of regional myocardial deformation for accurate disease diagnosis,…

Interaction between extended defects and impurities lies at the heart of many physical phenomena in materials science. Here we revisit the ubiquitous problem of the driven motion of an extended defect in a field of mobile impurities, which…

This paper presents a driving-cycle-aware shape and topology optimization workflow for interior permanent magnet synchronous machines used in traction drives. A k-means clustering approach reduces full driving cycles to representative…

Shared steering control has been developed to reduce driver workload while keeping the driver in the control loop. A driver could integrate visual sensory information from the road ahead and haptic sensory information from the steering…

Soft robotics, with their inherent flexibility and infinite degrees of freedom (DoF), offer promising advancements in human-machine interfaces. Particularly, pneumatic artificial muscles (PAMs) and pneumatic bending actuators have been…

Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods.…

Next generation architectures necessitate a shift away from traditional workflows in which the simulation state is saved at prescribed frequencies for post-processing analysis. While the need to shift to in~situ workflows has been…

Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a differentiable learning framework that…

This paper proposes a model-based approach to control the shape of a tensegrity system by driving its node position locations. The nonlinear dynamics of the tensegrity system is used to regulate position, velocity, and acceleration to the…